CN111891356A - Unmanned aerial vehicle headless spin flight oblique photography aerial photography method - Google Patents
Unmanned aerial vehicle headless spin flight oblique photography aerial photography method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
Abstract
The invention relates to an unmanned aerial vehicle headless spin flying oblique photography aerial photographing method, wherein an unmanned aerial vehicle carrying a single-lens camera adopts a headless spin flying mode, the direction deflection angle of a camera lens is adjusted by utilizing the self-rotation of the body of the unmanned aerial vehicle in the process of flying a target area along a bow-shaped air course at a constant speed, the pitching angle of the camera lens is adjusted to be vertical downward and 45 degrees inclined at a set time interval, an image with five different visual angles of vertical downward plus four inclined angles is obtained, and aerial photographing image acquisition of oblique photography three-dimensional modeling is carried out on the target area. The method can realize that the common civil unmanned aerial vehicle flies on the target area by a zigzag air line for one time, and can finish data acquisition of the photographed three-dimensional modeling aerial image at five angles, thereby greatly improving the photographing efficiency of oblique photography and reducing the photographing cost.
Description
Technical Field
The invention relates to the technical field of oblique photography, in particular to an unmanned aerial vehicle headless spin flight oblique photography aerial photography method.
Background
The oblique photography technology is a high and new technology developed in the international photogrammetry field in the last ten years, and acquires abundant high-resolution textures of the top surface and the side view of a building by synchronously acquiring images from a vertical angle, four oblique angles and five different visual angles. The method can truly reflect the ground object condition, acquire object texture information with high precision, and generate a real three-dimensional city model through advanced positioning, fusion, modeling and other technologies.
At present, when an unmanned aerial vehicle is used for reconstructing three-dimensional geographic information, a camera is required to take photos at five different angles, wherein the five angles are respectively front 45 degrees, rear 45 degrees, left 45 degrees, right 45 degrees and vertical downward. At present, the traditional shooting methods include the following two methods:
five cameras are installed on the aircraft simultaneously and are adjusted to be at least five angles respectively, when the unmanned aerial vehicle flies to a photographing point, the five cameras are exposed simultaneously to obtain five aerial films, the defect of the technology is that the five cameras are installed together, the occupied volume and weight are large, and the small unmanned aerial vehicle cannot be installed and used. If install on large-scale fixed wing unmanned aerial vehicle or many rotor unmanned aerial vehicle, can seriously influence unmanned aerial vehicle's duration because of big load.
And installing a camera on the aircraft, adjusting the angle to one of the five angles, manually adjusting the camera to another angle after the aircraft flies for one time, and flying again along the air route of the previous time. The data acquisition can be completed after the same airline flies for five frames, and the method has the defects that photos of all angles can be acquired only by flying the same airline five times, and the efficiency is low.
Disclosure of Invention
In order to solve the problems in the background art, the invention provides an unmanned aerial vehicle headless spin flight oblique photography aerial photographing method.
The technical scheme adopted by the invention for solving the technical problems is as follows: a method for taking aerial photos by unmanned aerial vehicles through headless spinning flying oblique photography is characterized in that an unmanned aerial vehicle carrying a single-lens camera adopts a headless spinning flying mode in the flying process of a target area along a bow-shaped air route, the direction deflection angle of a camera lens is adjusted by utilizing the self-rotation of the body of the unmanned aerial vehicle, the pitching angle of the camera lens is controlled to be switched between vertical downward and 45-degree inclination, five oblique photographic images with different visual angles and vertical downward and four 45-degree inclination angles can be obtained, five different visual angles are continuously taken in the flying process of the target area along the bow-shaped air route, and the aerial photographic image acquisition of the oblique photography is carried out on the target area.
Further, the unmanned aerial vehicle oblique photography aerial photography method adopting the headless spinning flight mode comprises the following specific steps:
1) the unmanned aerial vehicle flies along a bow-shaped air route in a target area in a headless self-rotating flying mode, and when the head of the unmanned aerial vehicle faces to the right front, a camera lens is controlled to vertically face downwards and a vertically downward orthographic photo is shot;
2) the direction of the head of the unmanned aerial vehicle rotates by 45 degrees, the pitch angle of a camera lens is controlled to deflect to 45 degrees, and a first oblique photo is shot;
3) continuously rotating the head direction of the unmanned aerial vehicle for 90 degrees, keeping the pitch angle of a camera lens unchanged at 45 degrees, and shooting a second oblique picture;
4) continuously rotating the head direction of the unmanned aerial vehicle for 90 degrees, keeping the pitch angle of a camera lens inclined for 45 degrees, and taking a third inclined photo;
5) continuously rotating the head direction of the unmanned aerial vehicle for 90 degrees, keeping the pitch angle of a camera lens inclined for 45 degrees, and taking a fourth inclined photo; completing a group of five photos with different viewing angles;
6) the head of the unmanned aerial vehicle continuously rotates by 45 degrees again, the direction of the head of the unmanned aerial vehicle faces to the right front again, the pitch angle of a camera lens is controlled to deflect to the vertical downward direction, and a second group of vertical downward orthographic photos are shot;
7) and (3) continuously and repeatedly cycling the steps 1) to 6) in the whole process of flying the target area along the zigzag air route by the unmanned aerial vehicle, and finishing aerial image data acquisition of the oblique photography three-dimensional modeling of the target area after the unmanned aerial vehicle flies the zigzag air route of the target area for one frame.
Further, the unmanned aerial vehicle is flying at a uniform speed in the flying process, and the rotating angular speed of the self-rotation of the unmanned aerial vehicle body is constant. When the unmanned aerial vehicle flies at a constant speed and the body rotates at a constant speed and automatically, the interval duration of shutter shooting control and camera lens pitching switching changes periodically, and the pitch angle deflection of a camera shutter and a camera lens can be automatically controlled in a time control mode; the unmanned aerial vehicle can acquire oblique photographic images with five different visual angles of a vertical downward angle and four oblique angles on most civil unmanned aerial vehicles, and automatic aerial photography control of oblique photography of the unmanned aerial vehicles is realized.
Further, in the flying process that the unmanned aerial vehicle flies at a constant speed in a headless mode and the self-rotation of the body is at a constant angular speed, the method for controlling the pitching angle deflection actions of the camera shutter and the camera lens in a time control mode is as follows;
the method for controlling the camera shutter time comprises the following steps of setting the time of 45-degree self-rotation of the unmanned aerial vehicle body as one unit interval duration: delaying one unit interval duration in the step 2) to trigger camera shutter shooting and unmanned aerial vehicle self-rotation for 45 degrees; in the step 3), the step 4) and the step 5), the camera shutter shooting is triggered by delaying two unit interval durations, and the unmanned aerial vehicle rotates by 90 degrees; delaying one unit interval duration in the step 6) to trigger a camera shutter to shoot, and enabling the unmanned aerial vehicle to spin for 45 degrees;
the method for controlling the time of the pitching angle deflection of the camera lens comprises the following steps: delaying one unit interval duration in the step 2) to control the pitch angle of a camera lens to deflect from vertical downward to 45-degree inclination, and enabling the unmanned aerial vehicle to spin by 45 degrees; and delaying seven unit interval durations until step 6), and controlling the pitch angle of the camera lens to deflect vertically downwards again to take the next group of photos.
Further, in the cyclic shooting process of the unmanned aerial vehicle, a group of cyclic total duration, unit interval duration and rotation angular velocity of unmanned aerial vehicle spinning are calculated according to the result of multiplying the length of the shooting baseline on the spot by the overlap required by the project as the length of the shooting baseline of the flight route, and the calculation formula is as follows:
the total time of a set of cycles when shooting is as follows: t = L/V;
the unit interval duration when shooting is: t = T/8;
the angular velocity of rotation is: w = 360/T;
in the formula: t is the total time (unit: s) of one cycle; l is the length (unit: m) of a flight route photographing base line; v is the average flying speed (unit: m/s) of the unmanned plane; t is the shutter interval duration base (unit: s); w is the rotation angular velocity (unit:/s) of the unmanned aerial vehicle body.
In actual aerial photography, the shooting overlap is usually set to be more than 65%, the length of a shooting baseline on the ground is determined again according to the shooting overlap, and a set of cycle total duration, unit interval duration and rotation angular velocity of unmanned aerial vehicle spinning are calculated according to the above formula.
In the oblique photography aerial photography method, the self-rotation direction of the unmanned aerial vehicle body in the headless self-rotation flight mode can be clockwise rotation or anticlockwise rotation.
The implementation process comprises the following steps: setting a bow-shaped air route and a flying height for a target area, starting a headless self-spinning flying mode in the air route flying process after an unmanned aerial vehicle carrying a single camera reaches a shooting target area, continuously adjusting the direction deflection angle of a camera lens by utilizing the self-rotation of the body of the unmanned aerial vehicle, controlling the pitching angle of the camera lens to be vertically downward and inclined by 45 degrees for switching, obtaining five inclined photographic images with different visual angles, namely vertically downward and four inclined angles, and carrying out aerial photographic image acquisition of inclined photographic three-dimensional modeling on the target area; specifically, the method comprises the following steps of:
1) the unmanned aerial vehicle flies along a bow-shaped air route in a target area in a headless self-rotating flying mode, and when the head of the unmanned aerial vehicle faces to the right front, a camera lens is controlled to vertically face downwards and a vertically downward orthographic photo is shot;
2) the direction of the head of the unmanned aerial vehicle rotates by 45 degrees, the pitch angle of a camera lens is controlled to deflect to 45 degrees, and a first oblique photo is shot;
3) continuously rotating the head direction of the unmanned aerial vehicle for 90 degrees, keeping the pitch angle of a camera lens unchanged at 45 degrees, and shooting a second oblique picture;
4) continuously rotating the head direction of the unmanned aerial vehicle for 90 degrees, keeping the pitch angle of a camera lens inclined for 45 degrees, and taking a third inclined photo;
5) continuously rotating the head direction of the unmanned aerial vehicle for 90 degrees, keeping the pitch angle of a camera lens inclined for 45 degrees, and taking a fourth inclined photo; completing a group of five photos with different viewing angles;
6) the head of the unmanned aerial vehicle continuously rotates by 45 degrees again, the direction of the head of the unmanned aerial vehicle faces to the right front again, the pitch angle of a camera lens is controlled to deflect to the vertical downward direction, and a second group of vertical downward orthographic photos are shot;
7) and (3) continuously and repeatedly cycling the steps 1) to 6) in the whole process of flying the target area along the zigzag air route by the unmanned aerial vehicle, and finishing aerial image data acquisition of the oblique photography three-dimensional modeling of the target area after the unmanned aerial vehicle flies the zigzag air route of the target area for one frame.
The oblique photography aerial photography process of the unmanned aerial vehicle can be realized through the manual control mode of an operator.
The method for realizing the automatic control aerial photography control of the unmanned aerial vehicle comprises the following steps that the unmanned aerial vehicle flies at a constant speed in the flying process, the rotating angular speed of the self-rotation of the body of the unmanned aerial vehicle is constant, and the pitching angle deflection action of a camera shutter and a camera lens is automatically controlled in a time control mode.
Firstly, according to the length of a shooting baseline on the spot determined by the actual shooting overlapping length, a group of cycle total duration, unit interval duration and the rotation angular velocity of unmanned aerial vehicle spinning are calculated, and the calculation formula is as follows:
the total duration of a set of cycles is: t = L/V;
the unit interval duration when shooting is: t = T/8;
the angular velocity of rotation is: w = 360/T;
in the formula: t is a set of total cycle durations (unit: s); l is the length of the base line (unit: m) of the image on the solid; v is the average flying speed (unit: m/s) of the unmanned plane; t is a unit interval duration (unit: s); w is a rotational angular velocity (unit:. degree.s.).
In actual aerial photography, the shooting overlapping degree is set to be larger than 65%, the length of a shooting baseline on the ground is determined again according to the shooting overlapping degree, and a set of cycle total duration, unit interval duration and rotation angular velocity of unmanned aerial vehicle spinning are calculated according to the formula.
The automatic control aerial photography method for unmanned aerial vehicle headless spin flight oblique photography comprises the following specific steps:
1) the unmanned aerial vehicle flies along a bow-shaped air route in a headless self-rotating flying mode to a target area, the unmanned aerial vehicle flies at a constant speed in the flying process, the rotating angular speed of the self-rotating of the unmanned aerial vehicle is constant, and when the head of the unmanned aerial vehicle faces to the right front, a camera lens is controlled to vertically face downwards and a vertically downward orthographic photo is shot;
2) the unmanned aerial vehicle head direction self-rotates by 45 degrees, the process is a unit interval duration, the pitch angle of a camera lens is controlled to deflect to 45 degrees and incline, and a camera shutter is triggered to shoot a first inclined photo;
3) the direction of the unmanned aerial vehicle head continues to rotate for 90 degrees, the process is two unit interval duration, the pitch angle of the camera lens is still kept unchanged at 45 degrees of inclination, and a camera shutter is triggered to shoot a second inclined photo;
4) the direction of the unmanned aerial vehicle head continues to rotate for 90 degrees, the process is two unit interval duration, the pitch angle of the camera lens is still kept to be 45 degrees, and a camera shutter is triggered to shoot a third oblique photo;
5) the direction of the unmanned aerial vehicle head continues to rotate for 90 degrees, the process is two unit interval duration, the pitch angle of the camera lens is still kept to be 45 degrees, and a camera shutter is triggered to shoot a fourth oblique photo; completing a group of five photos with different viewing angles;
6) the unmanned aerial vehicle head continues to rotate for 45 degrees again, the process is a unit interval duration, the head direction faces to the right front again, the camera lens pitch angle is controlled to deflect vertically downwards, and the camera shutter is triggered to shoot a second group of vertically downwards orthophotos;
7) and (3) continuously and repeatedly cycling the steps 1) to 6) in the whole process of flying the target area along the zigzag air route by the unmanned aerial vehicle, and finishing aerial image data acquisition of the oblique photography three-dimensional modeling of the target area after the unmanned aerial vehicle flies the zigzag air route of the target area for one frame.
The invention has the beneficial effects that: the unmanned aerial vehicle carrying the single camera is adopted to adopt a headless self-rotating flight mode, in the process of flying along a zigzag course at a constant speed in a target area, the direction angle of the camera is adjusted by utilizing the self-rotating of the body of the unmanned aerial vehicle, meanwhile, the pitching angle of the camera is adjusted to be vertical downward or inclined for 45 degrees, an image with five different visual angles of four inclined angles added vertically downward is obtained, and after the unmanned aerial vehicle flies for one zigzag course, the aerial image data acquisition of the oblique photography three-dimensional modeling of the target area is completed. The method can realize that the common civil unmanned aerial vehicle flies on the target area by a bow-shaped air route for one time, and can acquire the data acquisition of photographing three-dimensional modeling at five angles, thereby greatly reducing the aerial photographing cost of the three-dimensional modeling and improving the photographing efficiency of oblique photography.
The invention can be realized by a manual control mode of an operator and also can be realized by an automatic control mode, when the unmanned aerial vehicle is set to fly at a constant speed in the flying process, the rotation angular speed of the self-rotation of the unmanned aerial vehicle is constant, and when the unmanned aerial vehicle flies at the constant speed and is in a state of self-rotation at the constant speed, the interval duration of the shutter shooting control and the camera lens pitching switching is changed periodically, and the camera shutter and the camera lens pitching angle deflection action can be automatically controlled in a time control mode; the unmanned aerial vehicle oblique photography control system can acquire oblique photography images of five different visual angles with a vertical downward angle and four oblique angles on most civil unmanned aerial vehicles, and achieves automatic aerial photography control of unmanned aerial vehicle oblique photography. The automatic flight control of aerial photography is realized, the working strength of operators can be greatly reduced, and the shooting precision of oblique photography is improved.
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FIG. 1 is a schematic illustration of an embodiment of the present invention;
FIG. 2 is a schematic view of example 2 of the present invention.
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
Example 1
Adopt manual mode operation unmanned aerial vehicle spin flight oblique photography aerial photography, the concrete implementation process:
the method comprises the steps of setting a bow-shaped air route and a flying height for a target area, enabling an unmanned aerial vehicle carrying a single camera to reach a shooting position, adopting a headless spinning flying mode in the flying process, continuously adjusting the direction deflection angle of a camera lens by utilizing the self-rotation of the body of the unmanned aerial vehicle, controlling the pitching angle of the camera lens to be vertically downward and inclined by 45 degrees, obtaining five inclined photographic images with different visual angles and vertically downward and four inclined angles, and carrying out aerial image acquisition of inclined photographic three-dimensional modeling on the target area.
The self-rotation direction of the unmanned aerial vehicle headless self-rotation flight can be clockwise rotation or anticlockwise rotation, and the self-rotation flight oblique photography aerial photography is specifically carried out according to the following steps:
1) the unmanned aerial vehicle flies along a bow-shaped air route in a target area in a headless self-rotating flying mode, and when the head of the unmanned aerial vehicle faces to the right front, a camera lens is controlled to vertically face downwards and a vertically downward orthographic photo is shot;
2) the direction of the head of the unmanned aerial vehicle rotates by 45 degrees, the pitch angle of a camera lens is controlled to deflect to 45 degrees, and a first oblique photo is shot;
3) continuously rotating the head direction of the unmanned aerial vehicle for 90 degrees, keeping the pitch angle of a camera lens unchanged at 45 degrees, and shooting a second oblique picture;
4) continuously rotating the head direction of the unmanned aerial vehicle for 90 degrees, keeping the pitch angle of a camera lens inclined for 45 degrees, and taking a third inclined photo;
5) continuously rotating the head direction of the unmanned aerial vehicle for 90 degrees, keeping the pitch angle of a camera lens inclined for 45 degrees, and taking a fourth inclined photo; completing a group of five photos with different viewing angles;
6) the head of the unmanned aerial vehicle continuously rotates by 45 degrees again, the direction of the head of the unmanned aerial vehicle faces to the right front again, the pitch angle of a camera lens is controlled to deflect to the vertical downward direction, and a second group of vertical downward orthographic photos are shot;
7) and (3) continuously and repeatedly cycling the steps 1) to 6) in the whole process of flying the target area along the zigzag air route by the unmanned aerial vehicle, and finishing aerial image data acquisition of the oblique photography three-dimensional modeling of the target area after the unmanned aerial vehicle flies the zigzag air route of the target area for one frame.
The oblique photography and aerial photography process of the unmanned aerial vehicle is realized through a manual control mode of an operator.
Example 2
The unmanned aerial vehicle self-rotation flight oblique photography aerial photography is achieved through an automatic control mode, a bow-shaped air line and a flying height are set for a target area, the unmanned aerial vehicle carrying a single camera arrives at a shooting position, a headless self-rotation flight mode is adopted in the flight process, the unmanned aerial vehicle flies at a constant speed in the flight process, the rotation angular speed of self-rotation of the unmanned aerial vehicle is constant, and automatic aerial photography control is achieved through time control over the pitch angle deflection action of a camera shutter and a camera lens.
Firstly, calculating a group of cycle total duration, unit interval duration and rotation angular velocity of unmanned aerial vehicle spinning according to the result of multiplying the shooting baseline length on the spot by the overlap length required by the project as the shooting baseline length of the flight route, wherein the calculation formula is as follows:
the total time of a set of cycles when shooting is as follows: t = L/V;
the unit interval duration when shooting is: t = T/8;
the angular velocity of rotation is: w = 360/T;
in the formula: t is the total time (unit: s) of one cycle; l is the length (unit: m) of a flight route photographing base line; v is the average flying speed (unit: m/s) of the unmanned plane; t is the shutter interval duration base (unit: s); w is the rotation angular velocity (unit:/s) of the unmanned aerial vehicle body.
In actual aerial photography, the shooting overlapping degree is set to be larger than 65%, the length of a shooting baseline on the ground is determined again according to the shooting overlapping degree, and a set of cycle total duration, unit interval duration and rotation angular velocity of unmanned aerial vehicle spinning are calculated according to the formula.
As shown in fig. 1-2, taking the counterclockwise rotation of the unmanned aerial vehicle body as an example, the specific steps of the automatic aerial photography control method by unmanned aerial vehicle headless spin-flight oblique photography are as follows:
1) the unmanned aerial vehicle flies along a bow-shaped air route in a headless self-rotating flying mode to a target area, the unmanned aerial vehicle flies at a constant speed in the flying process, the rotating angular speed of the self-rotating of the body of the unmanned aerial vehicle is constant, and when the head of the unmanned aerial vehicle faces to the right front, a camera lens is controlled to vertically face downwards and a first group of vertically downward orthophotographs are shot;
2) the unmanned aerial vehicle head direction rotates 45 degrees from self to 45 degrees to the left front, the process is a unit interval duration, the pitch angle of a camera lens is controlled to deflect to 45 degrees and incline, and a camera shutter is triggered to shoot a first inclined photo;
3) the direction of the head of the unmanned aerial vehicle continuously rotates by 90 degrees to 45 degrees at the left back, the process is two unit interval durations, the pitch angle of a camera lens is still kept unchanged when the camera lens tilts by 45 degrees, and a camera shutter is triggered to shoot a second tilted photo;
4) the direction of the head of the unmanned aerial vehicle continuously rotates by 90 degrees to 45 degrees behind the head of the unmanned aerial vehicle, the process is two unit interval durations, the pitch angle of a camera lens is still kept to be 45 degrees, and a camera shutter is triggered to shoot a third oblique photo;
5) the direction of the head of the unmanned aerial vehicle continuously rotates for 90 degrees to 45 degrees in front of the right, the process is two unit interval durations, the pitch angle of a camera lens is still kept to be 45 degrees, and a camera shutter is triggered to shoot a fourth oblique photo; completing a group of five photos with different viewing angles;
6) the unmanned aerial vehicle head continues to rotate for 45 degrees again, the process is a unit interval duration, the head direction faces to the right front again, the camera lens pitch angle is controlled to deflect vertically downwards, and the camera shutter is triggered to shoot a second group of vertically downwards orthophotos;
7) and (3) continuously and repeatedly cycling the steps 1) to 6) in the whole process of flying the target area along the zigzag air route by the unmanned aerial vehicle, and finishing aerial image data acquisition of the oblique photography three-dimensional modeling of the target area after the unmanned aerial vehicle flies the zigzag air route of the target area for one frame.
Of course, the unmanned aerial vehicle can also be used for aerial photography in a headless spinning mode with the body rotating clockwise, and the process is not described here, please refer to expect.
The invention can be realized by a manual control mode of an operator and also can be realized by an automatic control mode, when the unmanned aerial vehicle is set to fly at a constant speed in the flying process, the rotation angular speed of the self-rotation of the body of the unmanned aerial vehicle is constant, and when the unmanned aerial vehicle flies at the constant speed and is in a state of self-rotation at the constant speed, the interval duration of the shutter shooting control and the camera lens pitching switching is changed periodically, and the camera shutter and the camera lens pitching angle deflection can be automatically controlled in a time control mode; the unmanned aerial vehicle oblique photography control system can acquire oblique photography images of five different visual angles with a vertical downward angle and four oblique angles on most civil unmanned aerial vehicles, and achieves automatic aerial photography control of unmanned aerial vehicle oblique photography. The automatic flight control of aerial photography is realized, the working strength of operators can be greatly reduced, and the shooting precision of oblique photography is improved.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art; the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. The unmanned aerial vehicle carrying a single-lens camera is in a headless spinning flight mode in the process of flying along a bow-shaped air line to a target area, the direction deflection angle of a camera lens is adjusted by utilizing the self-rotation of the body of the unmanned aerial vehicle, the pitching angle of the camera lens is controlled to be switched between vertical downward and 45-degree inclined angles, five inclined photographic images with different visual angles and vertical downward and four 45-degree inclined angles can be obtained, five different visual angles are continuously shot in the process of flying along the bow-shaped air line to the target area, and the aerial photographic image collection of the inclined photographic is carried out on the target area.
2. The unmanned aerial vehicle headless spin-flight oblique photography aerial photography method according to claim 1, wherein the unmanned aerial vehicle headless spin-flight oblique photography aerial photography method comprises the following specific steps:
1) the unmanned aerial vehicle flies along a bow-shaped air route in a target area in a headless self-rotating flying mode, and when the head of the unmanned aerial vehicle faces to the right front, a camera lens is controlled to vertically face downwards and a vertically downward orthographic photo is shot;
2) the direction of the head of the unmanned aerial vehicle rotates by 45 degrees, the pitch angle of a camera lens is controlled to deflect to 45 degrees, and a first oblique photo is shot;
3) continuously rotating the head direction of the unmanned aerial vehicle for 90 degrees, keeping the pitch angle of a camera lens unchanged at 45 degrees, and shooting a second oblique picture;
4) continuously rotating the head direction of the unmanned aerial vehicle for 90 degrees, keeping the pitch angle of a camera lens inclined for 45 degrees, and taking a third inclined photo;
5) continuously rotating the head direction of the unmanned aerial vehicle for 90 degrees, keeping the pitch angle of a camera lens inclined for 45 degrees, and taking a fourth inclined photo; completing a group of five photos with different viewing angles;
6) the head of the unmanned aerial vehicle continuously rotates by 45 degrees again, the direction of the head of the unmanned aerial vehicle faces to the right front again, the pitch angle of a camera lens is controlled to deflect to the vertical downward direction, and a second group of vertical downward orthographic photos are shot;
7) and (3) continuously and repeatedly cycling the steps 1) to 6) in the whole process of flying the target area along the zigzag air route by the unmanned aerial vehicle, and finishing aerial image data acquisition of the oblique photography three-dimensional modeling of the target area after the unmanned aerial vehicle flies the zigzag air route of the target area for one frame.
3. The unmanned aerial vehicle headless spin flying oblique photography aerial photography method according to any one of claims 1 or 2, wherein the unmanned aerial vehicle flies at a constant speed during the flying process, and the rotation angular velocity of the spin of the unmanned aerial vehicle body is constant.
4. The unmanned aerial vehicle headless spin flying oblique photography aerial photographing method according to claim 3, wherein the unmanned aerial vehicle controls the camera shutter and the camera lens pitch angle deflection motion in a time control manner in the flying process that the unmanned aerial vehicle flies at a constant speed in a headless mode and the fuselage spins at a constant angular velocity;
the method for controlling the camera shutter time comprises the following steps of setting the time of 45-degree self-rotation of the unmanned aerial vehicle body as one unit interval duration: delaying one unit interval duration in the step 2) to trigger camera shutter shooting and unmanned aerial vehicle self-rotation for 45 degrees; in the step 3), the step 4) and the step 5), the camera shutter shooting is triggered by delaying two unit interval durations, and the unmanned aerial vehicle rotates by 90 degrees; delaying one unit interval duration in the step 6) to trigger a camera shutter to shoot, and enabling the unmanned aerial vehicle to spin for 45 degrees;
the method for controlling the time of the pitching angle deflection of the camera lens comprises the following steps: delaying one unit interval duration in the step 2) to control the pitch angle of a camera lens to deflect from vertical downward to 45-degree inclination, and enabling the unmanned aerial vehicle to spin by 45 degrees; and delaying seven unit interval durations until step 6), and controlling the pitch angle of the camera lens to deflect vertically downwards again to take the next group of photos.
5. The unmanned aerial vehicle headless spin flight oblique photography aerial photographing method according to claim 4, wherein during the unmanned aerial vehicle cyclic photographing process, a set of cyclic total duration, unit interval duration and rotation angular velocity of unmanned aerial vehicle spin is calculated according to a result of multiplying a photographic baseline length on the spot by a required overlap length of a project as a flight route photographic baseline length, and the calculation formula is as follows:
the total time of a set of cycles when shooting is as follows: t = L/V;
the unit interval duration when shooting is: t = T/8;
the angular velocity of rotation is: w = 360/T;
in the formula: t is the total time (unit: s) of one cycle; l is the length (unit: m) of a flight route photographing base line; v is the average flying speed (unit: m/s) of the unmanned plane; t is the shutter interval duration base (unit: s); w is the rotation angular velocity (unit:/s) of the unmanned aerial vehicle body.
6. The unmanned aerial vehicle head-free spin flight oblique photography aerial photography method according to any one of claims 1 or 2, wherein the self-rotation direction of the unmanned aerial vehicle head-free spin flight can be clockwise rotation or counterclockwise rotation.
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